Thesis (MScEng (Electrical and Electronic Engineering)--Stellenbosch University, 2008. / This thesis presents the design of a control system for the autonomous
precision landing of an unmanned aerial vehicle aided by an infra red
camera for precision position measurements.
An optimal kinematics state estimator was designed using two Kalman
filters. A Monocular vision algorithm that uses markers on the runway
was developed to supply accurate position measurements on the final
approach of the landing.
Inner-loop controllers as proposed by [14] and implemented in [5] are
used to reduce the aircraft dynamics to a point mass with steerable acceleration
vector. Outer-loop controllers as proposed by [13] were modified
and expanded to guide the aircraft on the circuit and final approach.
The hardware in the loop simulator that was designed in [6] was expanded
for optical measurements and used to verify the system. An infra
red camera node was designed and built to supply the optical measurements.
The system was installed on a model aircraft and partially tested
with practical test flights.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/2160 |
| Date | 12 1900 |
| Creators | Visser, Bernardus Johannes |
| Contributors | Jones, T., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : Stellenbosch University |
| Source Sets | South African National ETD Portal |
| Language | Afrikaans |
| Detected Language | English |
| Type | Thesis |
| Rights | Stellenbosch University |
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